AU2025256110A1

AU2025256110A1 - Multicopter with angled rotors

Info

Publication number: AU2025256110A1
Application number: AU2025256110A
Authority: AU
Inventors: Eric Allison; James Joseph Tighe
Original assignee: Wisk Aero LLC
Current assignee: Wisk Aero LLC
Priority date: 2016-10-18
Filing date: 2025-10-22
Publication date: 2025-11-13
Also published as: US20230025665A1; AU2023226684A1; US11932384B2; AU2023226684B2; EP3529149A1; US20180105267A1; EP4318167A2; US20240190563A1; EP4653973A2; AU2017346502A1; US10364024B2; AU2021202178B2; CN114872890A; EP4653972A2; US11358712B2; CN109843715A; EP3529149A4; AU2021202178A1; US20190322364A1; AU2017346502B2

Abstract

An aircraft, comprising: a fuselage; and a plurality of lift fans mounted on booms, each boom affixed to a corresponding wing of the aircraft, wherein the booms are mounted at an angle relative to a vertical axis of the aircraft such that the plurality of lift fans mounted thereon are at an associated angle; and the plurality of lift fans including a first subset of lift fans disposed on a first side of the fuselage and a second subset of lift fans disposed on a second side of the fuselage, and wherein the angle is of a non-zero magnitude such that a plane of rotation of the plurality of lift fans does not intersect the fuselage.

Description

MULTICOPTER WITH MULTICOPTER WITH ANGLED ROTORS ANGLED ROTORS

[0001]

[0001] This application is a divisional of Australian Patent Application No. This application is a divisional of Australian Patent Application No.

2023226684,which 2023226684, which is is a a divisionalofofAustralian divisional AustralianPatent PatentApplication ApplicationNo. No.2021202178, 2021202178, which which

is is a a divisional of2017346502, divisional of 2017346502, the entire the entire contents contents of are of which which are incorporated incorporated herein by herein by 2025256110

reference. reference.

[0002]

[0002] Multicopter aircraft typically include a plurality of horizontally oriented Multicopter aircraft typically include a plurality of horizontally oriented

rotors, sometimes referred to as “lift fans,” to provide lift, stability, and control. A flight rotors, sometimes referred to as "lift fans," to provide lift, stability, and control. A flight

control system, control system, sometimes sometimes referred referred to as to as a “flight a "flight controller” controller" or “flight or "flight computer”, computer", may be may be provided to translate pilot or other operator input, and/or corrections computed by an onboard provided to translate pilot or other operator input, and/or corrections computed by an onboard

computer, e.g., based on sensor data, into forces and moments and/or to further translate such computer, e.g., based on sensor data, into forces and moments and/or to further translate such

forces andmoments forces and momentsinto into a setaof setactuator of actuator (e.g.,(e.g., lift rotors; lift rotors; propellers; propellers; control control surfaces, surfaces, such assuch as

ailerons; etc.) and/or associated parameters (e.g., lift fan power, speed, or torque) to provide ailerons; etc.) and/or associated parameters (e.g., lift fan power, speed, or torque) to provide

the required the required forces forces and and moments. moments.

[0003]

[0003] For example, pilot or other operator inputs may indicate a desired change in For example, pilot or other operator inputs may indicate a desired change in

the aircraft’s speed, direction, and/or orientation, and/or wind or other forces may act on the the aircraft's speed, direction, and/or orientation, and/or wind or other forces may act on the

aircraft, aircraft, requiring thelift requiring the lift fans fans and/or and/orother other actuators actuators to used to be be used to maintain to maintain a desired a desired aircraft aircraft

attitude (roll/pitch/yaw), speed, and/or altitude. attitude (roll/pitch/yaw), speed, and/or altitude.

[0004]

[0004] An aircraft typically is considered to have six degrees of freedom of An aircraft typically is considered to have six degrees of freedom of

movement,including movement, including forcesininthe forces theforward/back, forward/back,side/side, side/side, and andup/down up/down directions(e.g., directions (e.g., Fx, Fx, Fy, and Fz) and moments about the longitudinal (roll) axis, the transverse (pitch) axis, and the Fy, and Fz) and moments about the longitudinal (roll) axis, the transverse (pitch) axis, and the

vertical (yaw) axis (e.g., Mx, My, and Mz). If an aircraft has more actuators than degrees of vertical (yaw) axis (e.g., Mx, My, and Mz). If an aircraft has more actuators than degrees of

freedom, freedom, ititmust mustbe be determined determined how how the the various various actuatorsactuators willtobeactused will be used to act on the on the aircraft in aircraft in

response to response to commands received commands received viavia manual manual and/or and/or automated automated controls. controls. For aFor a given given setone set of of one or or more pilot commands more pilot under commands under given given circumstances, circumstances, some some combinations combinations of actuators of actuators capable capable

of acting on the aircraft to achieve the result indicated by the pilot command(s) may be more of acting on the aircraft to achieve the result indicated by the pilot command(s) may be more

effective effective and/or and/or efficient efficientthan thanothers. others.For Forexample, example,some some may consume may consume more more or less or less power power

and/or fuel than others, provide a more smooth transition from a current state than others, etc. and/or fuel than others, provide a more smooth transition from a current state than others, etc.

Rotors may spin at aathigh a high raterate and and couldcould pose apose risk a torisk to an occupant of a 22 Oct 2025

[0005]

[0005] Rotors may spin an occupant of a

mannedmulticopter manned multicopterand/or and/ortotoequipment equipment housed housed infuselage in a a fuselage or or otherstructure other structurecomprising comprising the multicopter. the multicopter.

[0005A]

[0005A] According According to to an an aspect aspect of present of the the present invention, invention, there there is is provided provided an aircraft, an aircraft,

comprising: comprising: aa fuselage; fuselage; and and aa plurality pluralityof oflift fans lift mounted fans mountedon onbooms, booms, each each boom affixedto boom affixed to aa corresponding wingofofthe corresponding wing theaircraft, aircraft, wherein the booms wherein the aremounted booms are mountedat at anan anglerelative angle relativeto to aa 2025256110

vertical axis of vertical axis ofthe theaircraft aircraftsuch suchthat thatthetheplurality plurality of of liftfans lift fansmounted mounted thereon thereon are atare an at an

associated angle;andand associated angle; thethe plurality plurality of lift of lift fans fans including including a first a first subset subset of lift of lift fansfans disposed disposed on a on a

first first side side of of the the fuselage anda asecond fuselage and second subset subset of lift of lift fansfans disposed disposed on a second on a second side of the side of the

fuselage, andwherein fuselage, and wherein the the angle angle is ofisa of a non-zero non-zero magnitude magnitude such that such thatofarotation a plane plane ofofrotation the of the plurality of lift fans does not intersect the fuselage. plurality of lift fans does not intersect the fuselage.

[0005B]

[0005B] Disclosed herein is an aircraft, comprising: a fuselage; and a plurality of rotors Disclosed herein is an aircraft, comprising: a fuselage; and a plurality of rotors

disposed disposed onon opposite opposite sides sides of fuselage, of the the fuselage, the plurality the plurality of rotors of rotors including including a first a first of subset subset of lift liftrotors rotors disposed onboth disposed on both sides sides of of thethe fuselage fuselage and aand a second second subset subset of lift of lift rotors rotors disposeddisposed on on both sides of the fuselage, and wherein each rotor is oriented at a corresponding angle to a both sides of the fuselage, and wherein each rotor is oriented at a corresponding angle to a

substantially horizontal substantially horizontal plane plane of the of the aircraft, aircraft, wherein wherein the angle the angle for thefor the subset first first subset of liftof lift

rotors is such that the first subset of lift rotors tilt away from the fuselage and the angle for rotors is such that the first subset of lift rotors tilt away from the fuselage and the angle for

the second subset of lift rotors is such that the second subset of lift rotors tilt toward the the second subset of lift rotors is such that the second subset of lift rotors tilt toward the

fuselage. fuselage.

[0006]

[0006] Various embodiments Various embodimentsof of thethe invention invention aredisclosed are disclosedininthe thefollowing followingdetailed detailed description description and and the the accompanying drawings. accompanying drawings.

[0007]

[0007] Figure Figure 1 1isisaablock blockdiagram diagram illustrating illustrating an embodiment an embodiment of acontrol of a flight flight control system. system.

[0008]

[0008] Figure 2Aisis aa block Figure 2A diagramillustrating block diagram illustrating an an embodiment embodiment ofofa amulticopter multicopter aircraft aircraft with angledrotors. with angled rotors.

[0009]

[0009] Figure 2B Figure 2Bis is aa block block diagram showinga afront diagram showing frontview viewofofthe themulticopter multicopteraircraft aircraft 200 of 200 of Figure Figure 2A. 2A.

[0010]

[0010] Figure 2C is a block diagram illustrating an example of angled rotors as Figure 2C is a block diagram illustrating an example of angled rotors as

implemented implemented ininananembodiment embodimentof aofmulticopter a multicopter aircraftwith aircraft withangled angled rotors. rotors.

Figure 2D 2Disis aa block diagramillustrating illustrating aatop topview view of of an anembodiment embodiment ofofaa 22 Oct 2025

[0011]

[0011] Figure block diagram

multicopter aircraftwith multicopter aircraft with angled angled rotors. rotors.

[0012]

[0012] Figure 2E Figure 2E is is aa block block diagram illustrating an diagram illustrating anexample of forces example of forces and and moments moments

capable of capable of being generated by being generated byangled angledrotors rotors in in an an embodiment embodiment ofof a a multicopteraircraft multicopter aircraft with with angled rotors. angled rotors.

[0013] Figure 2F is is aa block block diagram showinga aside sideview viewofofthe themulticopter multicopteraircraft aircraft 2025256110

[0013] Figure 2F diagram showing

200 of 200 of Figure Figure 2A. 2A.

[0014]

[0014] Figure 2G Figure 2Gisis aa block diagramshowing block diagram showinga a sideview side viewofofthe themulticopter multicopteraircraft aircraft 200 of 200 of Figure Figure 2A. 2A.

[0015]

[0015] The invention The inventioncan canbe beimplemented implementedin in numerous numerous ways, ways, including including as aas a process; process;

an an apparatus; apparatus; a a system; system; a a composition of matter; composition of matter; aa computer program computer program product product embodied embodied on aon a

computer readablestorage computer readable storagemedium; medium; and/or and/or a processor, a processor, such such as as a a processor processor configured configured to to

execute instructions stored execute instructions stored on on and/or and/or provided provided by a memory by a coupled memory coupled to to theprocessor. the processor.InInthis this specification, these specification, theseimplementations, implementations, or or any any other other form form that that the theinvention inventionmay may take, take, may be may be

referred to as techniques. In general, the order of the steps of disclosed processes may be referred to as techniques. In general, the order of the steps of disclosed processes may be

altered within altered within the the scope scope of of the theinvention. invention. Unless Unless stated statedotherwise, otherwise,aacomponent suchas component such as aa processor or processor or aa memory describedasasbeing memory described beingconfigured configured to to perform perform a taskmaymay a task be be implemented implemented

as a general as a generalcomponent componentthat that is temporarily is temporarily configured configured to the to perform perform task atthe task at a given a given time or a time or a specific specific component that is component that is manufactured toperform manufactured to performthe thetask. task. AsAsused usedherein, herein,the theterm term ‘processor’ referstotooneone 'processor' refers or or more more devices, devices, circuits, circuits, and/or and/or processing processing cores configured cores configured to to process data, process data, such such as as computer programinstructions. computer program instructions.

[0016]

[0016] A detailed A detailed description description of of one one or or more embodiments more embodiments of of theinvention the inventionisis provided below along with accompanying figures that illustrate the principles of the provided below along with accompanying figures that illustrate the principles of the

invention. Theinvention invention. The inventionisis described described in in connection withsuch connection with suchembodiments, embodiments,butbut thethe

invention is not invention is not limited limitedtotoany anyembodiment. Thescope embodiment. The scope ofof theinvention the inventionisislimited limited only only by bythe the claims and claims and the the invention invention encompasses encompassesnumerous numerous alternatives, alternatives, modifications modifications andand equivalents. equivalents.

Numerous specific details are set forth in the following description in order to provide a Numerous specific details are set forth in the following description in order to provide a

thoroughunderstanding thorough understandingofofthe theinvention. invention.These Thesedetails detailsare areprovided providedfor forthe the purpose purposeofof example andthe example and theinvention inventionmay maybebe practicedaccording practiced according to to theclaims the claimswithout without some some or or allall ofof

these specific details. For the purpose of clarity, technical material that is known in the these specific details. For the purpose of clarity, technical material that is known in the technical fields related to the invention has not been described in detail so that the invention 22 Oct 2025 technical fields related to the invention has not been described in detail so that the invention is is not not unnecessarily obscured. unnecessarily obscured.

[0017]

[0017] A multicopter aircraft with angled rotors is disclosed. In various A multicopter aircraft with angled rotors is disclosed. In various

embodiments, a multicopter aircraft as disclosed herein includes a plurality of lift fans or embodiments, a multicopter aircraft as disclosed herein includes a plurality of lift fans or

other rotorsdisposed other rotors disposedin in a configuration a configuration around around a fuselage a fuselage and/or and/or other other centrally-located centrally-located

structure ofthe structure of theaircraft. aircraft.InInsome some embodiments, embodiments, a firstasubset first subset of the may of the rotors rotors may be disposed be disposed 2025256110

on on aa one oneside sideofofthetheaircraft aircraftandand a second a second subset subset of theofrotors the rotors may bemay be disposed disposed on an opposite on an opposite

side of the aircraft. In various embodiments, each of at least a subset of the rotors is mounted side of the aircraft. In various embodiments, each of at least a subset of the rotors is mounted

at at a a corresponding non-zero corresponding non-zero angleangle off ofoff of a horizontal a horizontal plane plane of of the aircraft. the aircraft. In some In some

embodiments,the embodiments, theangle angleatatwhich whicheach eachrotor rotorisismounted mountedisisdetermined determinedat at leastinin part least part by by a a

location ofthe location of therotor rotorrelative relativetotothethefuselage fuselage and/or and/or a human a human oroccupied or other other occupied portion thereof, portion thereof,

the angle being determined at least in part to ensure that a plane in which the rotor primarily the angle being determined at least in part to ensure that a plane in which the rotor primarily

rotates does not intersect the fuselage and/or a human or other occupied portion thereof. In rotates does not intersect the fuselage and/or a human or other occupied portion thereof. In

various embodiments, the respective angles at which at least a subset of the rotors are various embodiments, the respective angles at which at least a subset of the rotors are

mounted may be determined at least in part to provide the ability to generate lateral force mounted may be determined at least in part to provide the ability to generate lateral force

components in the components in the horizontal horizontal planeplane of theof the aircraft aircraft at rotor at rotor mount locations mount locations that are that are offset in offset in

the horizontal plane from a center of gravity of the aircraft , so as to provide an ability to use the horizontal plane from a center of gravity of the aircraft so as to provide an ability to use

the rotors to control yaw of the aircraft (i.e., rotation about a vertical axis of the aircraft) by the rotors to control yaw of the aircraft (i.e., rotation about a vertical axis of the aircraft) by

applying moments applying moments about about thethe verticalaxis. vertical axis.

[0018]

[0018] Figure 1 is a block diagram illustrating an embodiment of a flight control Figure 1 is a block diagram illustrating an embodiment of a flight control

system. In the system. In the example exampleshown, shown, flightcontrol flight controlsystem system100 100includes includesa asource sourceofofflight flight control control inputs 102configured inputs 102 configured to provide to provide flight flight control control inputsinputs 104 to 104 to a controller a controller 106, 106, e.g., e.g., a flight a flight

control control computer. Insome computer. In someembodiments, embodiments, source source of inputs of inputs 102102 may may comprises comprises one one or or both both of of pilot input, e.g., via manual flight controls, and auto-pilot or other self-piloting technologies. pilot input, e.g., via manual flight controls, and auto-pilot or other self-piloting technologies.

For example, in a self-piloting aircraft inputs 104 may be generated by a self-piloting For example, in a self-piloting aircraft inputs 104 may be generated by a self-piloting

program/computer program/computer 102. 102. In In various various embodiments, embodiments, source source of inputs of inputs 102 102 may include may include manualmanual

input devices(sometimes input devices (sometimes referred referred to as to as “inceptors”), "inceptors"), such assuch asthrottle, stick, stick, throttle, rudder, rudder, collective, collective,

joystick, thumb joystick, stick, and/or thumb stick, and/or other other manual control/input devices manual control/input devices configured to be configured to be manipulated manipulated

by a pilot or other operator to control the flight of an aircraft. Such inceptor devices and/or by a pilot or other operator to control the flight of an aircraft. Such inceptor devices and/or

associated associated electronics, electronics,and/or and/oraaself-piloting self-pilotingprogram, program,computer, computer,or ormodule, module, may be may be

configured to provide as input signals 104 one or more of a roll direction, roll rate, yaw configured to provide as input signals 104 one or more of a roll direction, roll rate, yaw

direction, yawrate, direction, yaw rate,pitch pitch angle, angle, pitch pitch rate, rate, altitude, altitude, altitude altitude raterate and/or and/or forward forward or thrust or other other thrust

4

input signal. In the example shown, controller 106 also receives sensor data 118, e.g., wind 22 Oct 2025

input signal. In the example shown, controller 106 also receives sensor data 118, e.g., wind

speed, airtemperature, speed, air temperature, etc., etc., from from sensors sensors 116. 116. FlightFlight controller controller 106 translates, 106 translates, aggregates, aggregates,

and/or otherwise processes and/or interprets the received flight control inputs 104 and/or and/or otherwise processes and/or interprets the received flight control inputs 104 and/or

sensor sensor data data 118 to generate 118 to generate and provide as and provide as output associated forces output associated forces and/or and/or moments 108totobebe moments 108

applied tothe applied to theaircraft aircraftvia viaits itscontrol controlassets assets(e.g., (e.g.,propellers, propellers, rotors, rotors, liftfans, lift fans,aerodynamic aerodynamic control surfaces,etc.; control surfaces, etc.;sometimes sometimes referred referred to herein to herein as “actuators”) as "actuators") to maneuver to maneuver theinaircraft in the aircraft

a manner determined based at least in part on the flight control inputs 104 and/or sensor data a manner determined based at least in part on the flight control inputs 104 and/or sensor data 2025256110

118. In various 118. In various embodiments, embodiments,forces/moments forces/moments 108 108 may may include include forces forces and/or and/or moments moments along along

and/or about one or more axes of the aircraft, such as x, y, and z axes, corresponding to and/or about one or more axes of the aircraft, such as x, y, and Z axes, corresponding to

longitudinal, transverse, and vertical axes of the aircraft, respectively, in various longitudinal, transverse, and vertical axes of the aircraft, respectively, in various

embodiments. embodiments.

[0019]

[0019] Referring further to Figure 1, the flight control system 100 includes an online Referring further to Figure 1, the flight control system 100 includes an online

optimizer/mixer110 optimizer/mixer 110configured configuredtotoreceive receiveforces/moments forces/moments 108. 108. Online Online optimizer/mixer optimizer/mixer 110 110 receives as receives as input input forces/moments 108and forces/moments 108 andcomputes computes dynamically dynamically (online) (online) a set a set of of actuators actuators

and associated and associated commands/parameters commands/parameters 112 112 to achieve to achieve the the requested requested forces/moments forces/moments 108. 108. In In someembodiments, some embodiments,thethe optimizer optimizer minimizes minimizes total total power power given given a desired a desired combination combination of of forces forces and and moments. Actuators moments. Actuators 114114 areare configured configured to to operate operate in in response response to to actuator actuator

commands/parameters commands/parameters 112 112 provided provided by online by online optimizer/mixer optimizer/mixer 110. 110.

[0020]

[0020] In the In the example shown,sensors example shown, sensors116 116provide provide sensor sensor data118 data 118 to to online online

optimizer/mixer110. optimizer/mixer 110.Examples Examplesof of sensors sensors 116116 and/or and/or sensor sensor data data 118118 may may include include one one or or more of airspeed, temperature, or other environmental conditions; actuator availability, more of airspeed, temperature, or other environmental conditions; actuator availability,

failure, failure, and/or healthinformation; and/or health information; aircraft aircraft attitude, attitude, altitude, altitude, and/or and/or otherother position position information; information;

presence/absence of other aircraft, debris, or other obstacles in the vicinity of the aircraft; presence/absence of other aircraft, debris, or other obstacles in the vicinity of the aircraft;

actuator position actuator position information; information; etc. etc. In Invarious variousembodiments, onlineoptimizer/mixer embodiments, online optimizer/mixer110 110may may be configured be configured to to take take sensor sensor data data 118 118 into into account account in in determining an optimal determining an optimal mix mixofofactuators actuators and associated and associated parameters parameterstoto achieve achieveaa requested requested set set of of forces forces and and moments. Forexample, moments. For example, in in

some embodiments, six or more lift fans may be provided to lift an aircraft into the air, enable some embodiments, six or more lift fans may be provided to lift an aircraft into the air, enable

the aircraft to hover, control aircraft attitude relative to the horizontal, etc. In some the aircraft to hover, control aircraft attitude relative to the horizontal, etc. In some

embodiments, failure embodiments, failure of aof a lift lift fan fan may may be reflected be reflected in sensor in sensor data data 118, 118, resulting resulting in a seamless in a seamless

response by response by online online optimizer/mixer optimizer/mixer110, 110,which whichprovides provides an an optimal optimal setset ofofactuators actuatorsand and parameters 112 that omits (does not rely on) the failed lift fan. Likewise, in some parameters 112 that omits (does not rely on) the failed lift fan. Likewise, in some

embodiments,sensor embodiments, sensordata datareflecting reflectingdiminished diminishedpower/performance, power/performance, overheating, overheating, etc., etc., maymay be taken into consideration, consideration, such such as as by by adjusting adjusting aamapping of actuator actuator parameter to expected 22 Oct 2025 be taken into mapping of parameter to expected effect on the aircraft for affected actuators. effect on the aircraft for affected actuators.

[0021]

[0021] Figure 2A Figure 2Aisis aa block diagramillustrating block diagram illustrating an an embodiment embodiment ofofa amulticopter multicopter aircraft with angled rotors. In various embodiments, a flight control system such as flight aircraft with angled rotors. In various embodiments, a flight control system such as flight

control control system 100of system 100 of Figure Figure 11 may maybebeembodied embodiedin in an an aircraftsuch aircraft suchasasaircraft aircraft 200 of 200 of

Figure 2A. Figure 2A. InInthe the example exampleshown, shown, aircraft200 aircraft 200includes includesa afuselage fuselage(body) (body)202 202andand 2025256110

wings204. wings 204.A Aset setofofthree three underwing underwingbooms booms 206206 is provided is provided under under eacheach wing. wing. Each Each boom206 boom 206hashastwo two liftfans lift fans 208 208mounted mounted thereon, thereon, one one forward forward of of thethe wing wing andand oneone aft. aft. Each Each

lift liftfan fan208 208may may be be driven driven by by an an associated associated drive drive mechanism, suchasasaadedicated mechanism, such dedicatedelectric electric motor. One motor. Oneorormore more batteries(not batteries (notshown) shown)and/or and/or onboard onboard power power generators generators (e.g., (e.g., small small gasgas

turbine) may be used to drive the lift fans 208 and/or charge/recharge onboard batteries. turbine) may be used to drive the lift fans 208 and/or charge/recharge onboard batteries.

[0022]

[0022] In various In various embodiments, eachboom embodiments, each boom 206206 is positioned is positioned at at an an angle angle relativetotoaa relative

vertical axis of the aircraft such that the lift fans 208 are mounted thereon at an associated vertical axis of the aircraft such that the lift fans 208 are mounted thereon at an associated

angle, as angle, as described described more fully in more fully in connection connection with with Figures 2B-– 2E. Figures 2B 2E.

[0023]

[0023] In the In the example shownininFigure example shown Figure2A, 2A,a apropeller propeller210 210isismounted mountedon on thethe

fuselage 202 fuselage 202 andand configured configured to the to push push the aircraft aircraft throughthrough the air the airforward in the in the (e.g., forward (e.g., x axis) X axis)

direction. The propeller 210 is positioned between a pair of tail booms 212 that extend aft direction. The propeller 210 is positioned between a pair of tail booms 212 that extend aft

and are joined at their aft end by a tail structure on which aerodynamic control surfaces and are joined at their aft end by a tail structure on which aerodynamic control surfaces

including elevators 216 including elevators and rudder 216 and rudder 218 218are are mounted. mounted.In Invarious variousembodiments, embodiments, eacheach of the of the

inboard booms inboard booms 206 206 formsforms at least at least inanpart in part an integral integral part ofpart the of the corresponding corresponding port/starboard port/starboard

side tail side tailboom boom 212. In some 212. In someembodiments, embodiments,thethe tailbooms tail booms212212 comprise comprise extensions extensions aft aft fromfrom the respective the respective inboard inboard booms 206.For booms 206. Forexample, example, thethe tailbooms tail booms212212 maymay be formed be formed as part as part of of or or fastened fastened (e.g., (e.g.,bolted) bolted)toto anan aftaft endend of the corresponding of the inboard corresponding boom inboard boom206. 206. Additional Additional

control surfaces control surfaces include include ailerons ailerons214 214 mounted onthe mounted on thetrailing trailing edge edge of of wings 204. wings 204.

[0024]

[0024] In the example shown, four ailerons 214 are included, e.g., to provide In the example shown, four ailerons 214 are included, e.g., to provide

redundancy. In some embodiments, if a single aileron 214 is lost or fails the remaining three redundancy. In some embodiments, if a single aileron 214 is lost or fails the remaining three

ailerons 214arearesufficient ailerons 214 sufficient to to control control the the aircraft. aircraft. Likewise, Likewise, inembodiments, in some some embodiments, loss of loss of one rudder 218 one rudder 218results results in in one one remaining rudderto remaining rudder to provide provide aa degree degree of of yaw yawcontrol, control, along along with with the lift fans. Finally, in some embodiments four elevators 216 are provided for loss/failure the lift fans. Finally, in some embodiments four elevators 216 are provided for loss/failure

tolerance. tolerance.

In In some embodiments,an an aircraft200 200asasshown shownin in Figure 2A 2A maymay havehave the the 22 Oct 2025

[0025]

[0025] some embodiments, aircraft Figure

following approximatedimensions: following approximate dimensions:

 Wingspan: Wingspan: 36.0 feet 36.0 feet

 Nose to tail Nose to tail 21.4 feet 21.4 feet

 Centerline Centerline totofirst firstboom boom 6.1 feet 6.1 feet

 Distance betweeninner Distance between innerbooms booms 12.2 feet 12.2 feet 2025256110

 Spacing Spacing between between booms (same wing) booms (same wing) 4.0 feet 4.0 feet

 Push propeller sweep Push propeller sweep 6.5 feet 6.5 feet

 Lift fan Lift fan sweep sweep 4.2 feet 4.2 feet

 Distance between Distance betweenfan fancenters centers(same (sameboom) boom) 8.7 8.7 feet feet

[0026]

[0026] Figure 2Bis Figure 2B is aa block block diagram showinga afront diagram showing frontview viewofofthe themulticopter multicopter aircraft aircraft 200 ofFigure 200 of Figure 2A. 2A. Coordinate Coordinate axes inaxes the in the z (vertical) Z (vertical) and ydirection and y (side) (side) direction are are indicated. The indicated. The front front view view shownshown in Figure in Figure 2B illustrates 2B illustrates the respective the respective angles offangles off the vertical the vertical

axis (z axis axis (z axis as as labeled), labeled),sometimes sometimes referred referred to herein to herein as “cant as "cant angles”, angles", at whichatthe which the outboard, outboard,

middle, and inboard pairs of lift fans 206 are oriented. In various embodiments, angling the middle, and inboard pairs of lift fans 206 are oriented. In various embodiments, angling the

lift liftfans, fans, as as indicated, mayprovide indicated, may provide additional additional options options to control to control the aircraft, the aircraft, especially especially at or at or

near hover. near Forexample, hover. For example,different different combinations combinationsofoffans fansmay maybe be used used to to exerciseyaw exercise yaw control control

(e.g., (e.g., rotate rotate around around Z zaxis), axis),totoslip slipsideways sideways or counteract or counteract the force the force ofwhile of wind windinwhile in a hover a hover

(y axis),etc. (y axis), etc.

[0027]

[0027] In In various various embodiments, therespective embodiments, the respectiveangles anglesatat which whichlift lift fans fans 208 208 may be may be

oriented may oriented may be be determined determined based based atinleast at least partin onpart on considerations, safety safety considerations, such as tosuch as to increase increase

the likelihood that debris thrown centrifugally from a lift fan, e.g., should the lift fan break the likelihood that debris thrown centrifugally from a lift fan, e.g., should the lift fan break

apart, wouldbebe apart, would propelled propelled on aon a trajectory trajectory and/or and/or in a that in a plane planedoes thatnotdoes not intersect intersect a human- a human-

occupied portion of occupied portion of fuselage fuselage 202. 202. InIn some someembodiments, embodiments,two two sideside by side by side seats seats areare provided provided

for passengersin ina forward for passengers a forward partpart of fuselage of fuselage 202. Batteries 202. Batteries to powertothe power the lift lift fans 208 fans 208 and/or and/or

push propeller 210 may be located in a central/over wing part of the fuselage 202, and in push propeller 210 may be located in a central/over wing part of the fuselage 202, and in

some embodiments some embodiments both both the the human-occupied human-occupied and battery and battery occupied occupied parts parts of theoffuselage the fuselage are are

protected at least in part by canting the booms/lift fans as disclosed herein. protected at least in part by canting the booms/lift fans as disclosed herein.

[0028]

[0028] In In some embodiments, some embodiments, liftfan lift fancant cant angles angles may maybebedetermined determinedat at leastinin part least part via a constrained optimization design process. The fan cants (e.g., roll and pitch fan angles) via a constrained optimization design process. The fan cants (e.g., roll and pitch fan angles)

maybebedetermined may determinedbyby anan optimization optimization process process in in which which an an object object is is totominimize minimizethethe amount amount of of torque torque required required by by any individual motor for aa variety variety of oftrimmed trimmed or or equilibrium conditions 22 Oct 2025 any individual motor for equilibrium conditions including: angular including: angular accelerations, accelerations, any any individual individual fan failure, fan failure, crosswinds, crosswinds, and and center of center gravityof gravity variations. In variations. In some embodiments, some embodiments, theoptimization the optimization isissubject subjecttotoconstraints constraints of of preventing the preventing the plane of the fan blade from intersecting the crew in the event of catastrophic failure of a fan. plane of the fan blade from intersecting the crew in the event of catastrophic failure of a fan.

Another example Another example of a of a constraint constraint thatbemay that may be applied applied is ensuring is ensuring thatare that the fans thealigned fans are to aligned to

the local flow angle for forward flight with the fans stopped and aligned with the boom. the local flow angle for forward flight with the fans stopped and aligned with the boom. 2025256110

[0029]

[0029] In various In various embodiments, theeffective embodiments, the effective forces forces and and moments moments capable capable of of being being

provided by provided byeach eachrespective respectivelift lift fan fanmay may be be stored stored onboard the aircraft onboard the aircraft 200 200 in inaamemory or memory or

other datastorage other data storagedevice device associated associated with with the onboard the onboard flight control flight control system. system. In various In various

embodiments, a matrix, table, database, or other data structure may be used. embodiments, a matrix, table, database, or other data structure may be used.

[0030]

[0030] In In some embodiments, some embodiments, effectiveness effectiveness under under differentoperating different operatingconditions conditionsmay may be stored. For example, effectiveness of a lift fan or control surface may be different be stored. For example, effectiveness of a lift fan or control surface may be different

dependingononconditions depending conditionssuch suchasasairspeed, airspeed,temperature, temperature,etc. etc. In In some someembodiments, embodiments, forces forces

and moments and moments expected expected to to be be generated generated by by a liftfan a lift fanor or other other actuator actuator under given conditions under given conditions may be discounted or otherwise reduced, e.g., by a factor determined based at least in part on may be discounted or otherwise reduced, e.g., by a factor determined based at least in part on

an environmental an environmental or other or other variable, variable, such such as a measure as a measure of lift of lift fan fanhealth. motor motor health.

[0031]

[0031] In an aircraft In an aircraft having havingangled angled liftlift fans fans as as in in thethe example example shown shown in 2B, in Figure Figure the 2B, the

forces forces and and moments capable moments capable ofof being being generated generated by by a given a given liftfan lift fanmay mayreflect reflectthe the angle angle at at which each lift fan is mounted. For example, lift fans mounted at an angle relative to the which each lift fan is mounted. For example, lift fans mounted at an angle relative to the

horizontal plane of the aircraft would generate a horizontal force component and a vertical horizontal plane of the aircraft would generate a horizontal force component and a vertical

force force component, andeach component, and eachforce forcemay may generate generate a corresponding a corresponding moment moment aboutabout one one or or more more

axes ofthe axes of theaircraft, aircraft,depending depending on the on the location location at which at which the fanthe is fan is mounted mounted relative relative to the to the center of gravity of the aircraft. center of gravity of the aircraft.

[0032]

[0032] Figure 2C Figure 2C is is a a block block diagram diagram illustrating illustrating an example an example ofrotors of angled angledas rotors as

implementedininananembodiment implemented embodimentof aofmulticopter a multicopter aircraftwith aircraft withangled angled rotors.InInthe rotors. theexample example shown, theapproximate shown, the approximate angles angles at which at which the leftthe left side (asside (as from viewed viewed from the the front) front) rotors rotors of the of the

aircraft aircraft200 200 as asshown in Figures shown in Figures 2A and2B 2A and 2Bare aremounted mountedareare shown. shown. In particular,thetheleft In particular, left most (outboard) lift fan is shown to be mounted at an angle θ1 to the vertical (and, therefore, most (outboard) lift fan is shown to be mounted at an angle 1 to the vertical (and, therefore,

horizontal/lateral) axis of the aircraft, tilting away from fuselage 202, resulting in a plane of horizontal/lateral) axis of the aircraft, tilting away from fuselage 202, resulting in a plane of

rotation of the lift fan, indicated by the dashed arrow extending away from the lift fan, not rotation of the lift fan, indicated by the dashed arrow extending away from the lift fan, not intersecting intersecting the thefuselage fuselage202. 202. In In some embodiments, theplane planeofofrotation rotationmay mayintersect intersectthe the 22 Oct 2025 some embodiments, the fuselage butnot fuselage but nota ahuman-occupied human-occupied or otherwise or otherwise critical critical portion thereof. portion thereof.

[0033]

[0033] Similarly, inthe Similarly, in theexample example shown shown the middle the middle lift fanlift andfan theand the lift inboard inboard fan lift fan

have been angled in towards the fuselage 202, resulting in their respective planes of rotation have been angled in towards the fuselage 202, resulting in their respective planes of rotation

being rotated being rotated downward downward byby corresponding corresponding angles, angles, such such that that they they do do notnot intersectthe intersect the fuselage fuselage 202. 202. 2025256110

[0034]

[0034] In various In various embodiments, anglinglift embodiments, angling lift fans fans or or other other rotors rotorstowards towards or or away away from from

a fuselage or critical portion thereof, and/or other critical structures, may decrease the risk a fuselage or critical portion thereof, and/or other critical structures, may decrease the risk

that debris thrown centrifugally from the rotor would hit the fuselage or other structure. that debris thrown centrifugally from the rotor would hit the fuselage or other structure.

[0035]

[0035] Figure 2D Figure 2Disis aa block diagramillustrating block diagram illustrating aatop topview view of of an anembodiment embodiment ofofaa

multicopter aircraft with angled rotors. Specifically, in Figure 2D a top view off aircraft 200 multicopter aircraft with angled rotors. Specifically, in Figure 2D a top view off aircraft 200

of of Figure Figure 2A is shown. 2A is Coordinate shown. Coordinate axes axes inin thex x(forward) the (forward)and andy y(side) (side)direction direction are are indicated. indicated. InIn theexample the example shown, shown, the aircraft the aircraft 200 includes 200 includes twelve twelve lift fans lift 208,fans 208, six on six on either either

side of the fuselage 202. On each side of the fuselage 202, three lift fans are mounted side of the fuselage 202. On each side of the fuselage 202, three lift fans are mounted

forward of the forward of the wing 204and wing 204 andthree threeaft. aft. The Thelift lift fans fans 208 208 are are mounted in pairs mounted in pairs on on

correspondingbooms corresponding booms206206 mounted mounted under under the wings the wings 204. 204. The outermost The outermost booms booms are are tilted tilted awayfrom away fromthe thefuselage fuselage202 202and andthe themiddle middle and and inner inner booms booms are are tiltedtowards tilted towards thefuselage, the fuselage, as shown as in Figures shown in Figures 2B 2Band and2C. 2C.

[0036]

[0036] Figure 2E Figure 2Eis is aa block block diagram illustrating an diagram illustrating anexample of forces example of forces and and moments moments

capable of capable of being generated by being generated byangled angledrotors rotors in in an an embodiment embodiment ofof a a multicopteraircraft multicopter aircraft with with angled rotors. In Figure 2E, the fuselage 202 of the aircraft 200 of Figure 2D is shown to angled rotors. In Figure 2E, the fuselage 202 of the aircraft 200 of Figure 2D is shown to

have aa center have center of of gravity gravity 220. 220. The circles in The circles in Figure Figure 2E 2E each each represent represent aa corresponding one of corresponding one of the lift fans 208. The arrows labeled F , F , etc. represent the respective lateral (y-axis) the lift fans 208. The arrows labeled Fy1, Fy, y1 etc. y2 represent the respective lateral (y-axis)

components of the components of the force force generated generated by the by the angled angled lift fanslift 208fans 208 by by virtue of virtue of their being their being

mountedatatangles, mounted angles, and andshown shownininFigures Figures2A2A – 2D. - 2D. TheThe rearrear (aft) (aft) fansareareshown fans shownto to be be

mounted at an x-axis distance x from center of gravity 220. As a result, the y-axis mounted at an x-axis distance X from 1center of gravity 220. As a result, the y-axis

components components ofofthe therear rearlift lift fans, fans,asasshown, shown,would would result result in incorresponding corresponding moments moments ofof

magnitudes proportional to the distance x1 being applied to the aircraft about the vertical axis magnitudes proportional to the distance x1 being applied to the aircraft about the vertical axis

(z-axis, (z-axis,using usingthe theconvention convention shown in Figures shown in Figures 2A 2A-–2E). 2E).The Themoment moment contributed contributed by any by any

given oneofofthethe given one rear rear liftfans lift fanswould would be determined be determined by the by liftthe lift generated force force generated by fan by the lift the lift fan as actuatedbybythetheflight as actuated flightcontrol control system, system, with with the direction the direction (counter-clockwise (counter-clockwise or clockwise) or clockwise)

9

depending on the position of the lift fan and whether it was tilted away from or towards the 22 Oct 2025

depending on the position of the lift fan and whether it was tilted away from or towards the

fuselage 202.ForFor fuselage 202. example, example, the leftmost the rear rear leftmost liftwould lift fan fan contribute would contribute a lateral aforce lateral Fy force Fy1

resulting in resulting incontributing contributingaacounter-clockwise counter-clockwise moment component moment component about about the the center center of of gravity 220.TheThe gravity 220. right right sideside (as (as shown shown in Figure in Figure 2E) 2E) rear rearandinner inner and middle middle lift lift Fy) fans (Fy, fans (Fy4, Fy5) similarly similarly would contribute aa counter-clockwise would contribute moment counter-clockwise moment component. component. By contrast, By contrast, the lift the lift fansfans associated with associated with lateral lateralforce forcecomponents Fy2,Fy, components Fy, Fy3,and andFy6 Fy6would wouldcontribute contributeclockwise clockwise momentcomponents. components. 2025256110

moment

[0037]

[0037] Similar tothe Similar to therear rearlift lift fans, fans, the theforward forward liftfans lift fans(associated (associated withwith lateral lateral force force

components Fy7- –Fy12, components Fy7 Fy12, in in this this example) wouldcontribute example) would contributemoment moment components components proportional proportional

to the x-axis distance x at which they are mounted relative to the center of gravity 220. to the x-axis distance X2 at 2 which they are mounted relative to the center of gravity 220.

[0038]

[0038] In various embodiments, the respective lift fans 208 may be rotated in In various embodiments, the respective lift fans 208 may be rotated in

alternating clockwise alternating clockwise or counterclockwise or counterclockwise rotations, rotations, e.g., toe.g., to balance balance sideassociated side forces forces associated with rotation direction. In the example shown in Figures 2A-2E, a total of twelve lift with rotation direction. In the example shown in Figures 2A-2E, a total of twelve lift

fans fans 208 are included. 208 are In various included. In various embodiments, embodiments, anan even even number number of liftfans of lift fansincluding includingatatleast least four lift fans four lift fans may may bebe included included and and distributed distributed evenlyevenly on eachon each side sidefuselage. of the of the fuselage. Upon loss Upon loss

or failure of or failure of aa lift lift fan, fan, aa corresponding liftfan corresponding lift fanonon an an opposite opposite side side ofaircraft of the the aircraft may may be de- be de-

activated, to maintain balance. For example, loss of a clockwise rotating lift fan on a forward activated, to maintain balance. For example, loss of a clockwise rotating lift fan on a forward

end of an end of an innermost boomonon innermost boom a a portside port sideofofthe the aircraft aircraft may result in may result inaacounterclockwise counterclockwise

rotating lift fan in a complementary position on the opposite side, such as the aft end of the rotating lift fan in a complementary position on the opposite side, such as the aft end of the

innermost boom innermost boom onon theopposite the oppositeside, side,may maybebe shutdown shut down andand omitted omitted fromfrom use use (e.g., (e.g., zerozero RPM/torque RPM/torque added added as as a constraintfor a constraint forthat that lift lift fan) fan)ininsubsequent subsequentoptimization optimization computations computations

to determine to mixesofof actuators determine mixes actuators and and associated associated parameters parameterstoto achieve achievedesired desired forces forces and and moments. moments.

[0039]

[0039] Figure 2F Figure 2F is is aa block block diagram showinga aside diagram showing sideview viewofofthe themulticopter multicopter aircraft aircraft200 200 of ofFigure Figure2A. 2A. In In the the example shown,the example shown, thelift lift fans fans 208 208 are are mounted at aa mounted at

prescribed forward tilt relative to a horizontal plane of the aircraft 200. The booms 206 are prescribed forward tilt relative to a horizontal plane of the aircraft 200. The booms 206 are

showntotobe shown bemounted mounted substantiallyaligned substantially alignedwith withthe thehorizontal horizontalplane planeofofthe the aircraft aircraft 200 200 when when

in in level levelflight. flight.The Thewings wings 204 204 sweep upslightly sweep up slightly as as they they extend extend away fromthe away from thefuselage fuselage202. 202. In various embodiments, the angle at which the lift fans 208 are tilted forward may be In various embodiments, the angle at which the lift fans 208 are tilted forward may be

determined at least in part on the same considerations as the angles illustrated in Figures 2B determined at least in part on the same considerations as the angles illustrated in Figures 2B

and 2C, i.e., to ensure that debris thrown centrifugally from a lift fan if it were to break apart and 2C, i.e., to ensure that debris thrown centrifugally from a lift fan if it were to break apart

would not intersect at least a human-occupied or otherwise critical portion of a cockpit or would not intersect at least a human-occupied or otherwise critical portion of a cockpit or

10 cabin portion portion of of fuselage fuselage 202. In some embodiments,thethe angle at at which thethe liftfans fans 208 208are are 22 Oct 2025 cabin 202. In some embodiments, angle which lift tilted forward may be selected at least in part to minimize drag, turbulence, or other tilted forward may be selected at least in part to minimize drag, turbulence, or other undesirable aerodynamic effects of the lift fans when the aircraft 200 is in forward flight, e.g., undesirable aerodynamic effects of the lift fans when the aircraft 200 is in forward flight, e.g., being propelled being propelled by by push pushpropeller propeller 210. 210.

[0040]

[0040] Figure 2Gisis aa block Figure 2G diagramshowing block diagram showinga a sideview side viewofofthe themulticopter multicopter aircraft aircraft200 200 of ofFigure Figure2A. 2A. In In the the example shown,approximate example shown, approximate airflow airflow patternsare patterns areillustrated illustrated 2025256110

by arrows by arrows242 242and and244. 244.Arrow Arrow 242242 shows shows air flowing air flowing withwith minimal minimal resistance resistance over over the the forward liftfans forward lift fans208 208 and, and, duedue in part in part to the to the forward forward tiltthe tilt of of forward the forward lift 242, lift fans fans 242, continuing relatively unimpeded over wing 204, and clearing the aft lift fans 208 (or, in some continuing relatively unimpeded over wing 204, and clearing the aft lift fans 208 (or, in some

embodiments,flowing embodiments, flowing over over them them in in a relativelylow a relatively lowdrag dragpath, path,due dueininpart part to to their their forward forward

tilt). Arrow tilt). Arrow 244 showsair 244 shows air flowing flowingunder/through under/throughthe theforward forwardlift lift fans fans 208, 208, under the under the

wing 204, and flowing over the aft lift fans 208 in a relatively low drag manner, due at least wing 204, and flowing over the aft lift fans 208 in a relatively low drag manner, due at least

in in part to the part to the forward forwardtilt tiltofofthe theaft aftlift lift fans 208. fans 208.

[0041]

[0041] In some In embodiments, some embodiments, thethe wing wing 204204 maymay not not sweep sweep upward upward to thetosame the same extentextent

as shown as in Figures shown in Figures 2F 2Fand and2G, 2G,and andininsome some such such embodiments embodiments the lift the aft aft liftfans fansmay may be be more more

within aa same within horizontal plane same horizontal plane as as the the forward lift fans forward lift fans208 208and and wing wing 204. In some 204. In somesuch such embodiments, the aft lift fans 208 may be tilted back slightly, instead of forward, to provide a embodiments, the aft lift fans 208 may be tilted back slightly, instead of forward, to provide a

continuous, relatively continuous, relatively lowlow dragdrag pathway pathway for airfor to air flowtoover flowtheover the lift forward forward lift fans fans 208, the 208, the

wing 204, and the after lift fans 208, e.g., when the aircraft 200 is in forward flight mode. wing 204, and the after lift fans 208, e.g., when the aircraft 200 is in forward flight mode.

[0042]

[0042] In various embodiments, a flight control system, such as flight control In various embodiments, a flight control system, such as flight control

system 100ofofFigure system 100 Figure1,1, is is configured to determine configured to determine aa mix of actuators mix of actuators and corresponding and corresponding

actuator parameters, including of lift fans 208, to achieve required forces and moments, actuator parameters, including of lift fans 208, to achieve required forces and moments,

including by taking including by taking into into consideration consideration the the moments aboutthe moments about thez-axis z-axisthat that would begenerated would be generated and applied to the aircraft 200 by virtue of the lift fans being mounted at angles, as disclosed and applied to the aircraft 200 by virtue of the lift fans being mounted at angles, as disclosed

herein. herein.

[0043]

[0043] In various In various embodiments, techniquesdisclosed embodiments, techniques disclosedherein hereinmay may be be used used to to provide provide a a multicopter aircraft having angled lift fans and/or rotors. Each rotor may be mounted at an multicopter aircraft having angled lift fans and/or rotors. Each rotor may be mounted at an

angle such that debris thrown centrifugally from the lift fan, in a plane of rotation of the lift angle such that debris thrown centrifugally from the lift fan, in a plane of rotation of the lift

fan, wouldnotnot fan, would intersect intersect thethe fuselage fuselage or other or other critical critical structure structure ofaircraft. of the the aircraft. In various In various

embodiments, anglingrotors embodiments, angling rotorsasasdisclosed disclosedherein hereinmay mayprovide provide a a degree degree ofof authorityover authority over

11

(ability (ability to to control orinfluence) influence)yawyaw of the aircraft, e.g., during hoverhover or vertical takeoff (lift) (lift) 22 Oct 2025

control or of the aircraft, e.g., during or vertical takeoff

or landingoperations. or landing operations.

[0044]

[0044] Although theforegoing Although the foregoingembodiments embodimentshavehave beenbeen described described in some in some detail detail for for

purposes of clarity of understanding, the invention is not limited to the details provided. purposes of clarity of understanding, the invention is not limited to the details provided.

There are There are many manyalternative alternative ways waysofofimplementing implementingthethe invention. invention. TheThe disclosed disclosed embodiments embodiments

are illustrative and are illustrative andnot notrestrictive. restrictive. 2025256110

[0044]

[0044] Thereference The referenceininthis thisspecification specificationtotoany anyprior priorpublication publication(or(orinformation information derived fromit), derived from it), or or to to any anymatter matterwhich whichis is known, known, is not, is not, and and should should nottaken not be be taken as an as an

acknowledgment acknowledgment or admission or admission orform or any anyofform of suggestion suggestion that thatthat that prior prior publication publication (or (or information derived from information derived fromit) it) or or known matterforms known matter formspart partofof the the common common general general knowledge knowledge in in

the field of endeavor to which this specification relates. the field of endeavor to which this specification relates.

[0045]

[0045] Throughoutthis Throughout thisspecification specification and andthe theclaims claimswhich whichfollow, follow,unless unlessthethecontext context requires otherwise, requires otherwise, the theword word "comprise", and variations "comprise", and variations such such as as "comprises" "comprises" and "comprising", and "comprising",

will be understood to imply the inclusion of a stated integer or step or group of integers or steps will be understood to imply the inclusion of a stated integer or step or group of integers or steps

but not the exclusion of any other integer or step or group of integers or steps. but not the exclusion of any other integer or step or group of integers or steps.

12

Claims

CLAIMS CLAIMS 1. 1. An aircraft, comprising: An aircraft, comprising:

aa fuselage; and fuselage; and

aa plurality pluralityof oflift fans lift mounted fans mountedon onbooms, booms, each each boom affixedtotoaa corresponding boom affixed correspondingwing wing of the aircraft, of the aircraft, wherein the booms are mounted at an angle relative to a vertical axis of the aircraft such wherein the booms are mounted at an angle relative to a vertical axis of the aircraft such 2025256110

that the plurality of lift fans mounted thereon are at an associated angle; and that the plurality of lift fans mounted thereon are at an associated angle; and

the plurality of lift fans including a first subset of lift fans disposed on a first side of the the plurality of lift fans including a first subset of lift fans disposed on a first side of the

fuselage anda asecond fuselage and second subset subset of lift of lift fansfans disposed disposed on a second on a second side of side of the fuselage, the fuselage, and wherein and wherein

the angle is of a non-zero magnitude such that a plane of rotation of the plurality of lift fans the angle is of a non-zero magnitude such that a plane of rotation of the plurality of lift fans

does notintersect does not intersectthethefuselage. fuselage.
2. 2. The aircraft of claim 1, wherein said at least a subset of lift fans includes a first subset The aircraft of claim 1, wherein said at least a subset of lift fans includes a first subset

mounted forward of a center of gravity of the aircraft and a second subset of lift fans mounted mounted forward of a center of gravity of the aircraft and a second subset of lift fans mounted

aft aft of of the the center of gravity, center of gravity,wherein wherein a firstgroup a first groupof of booms booms are angled are angled in a first in a first direction direction relative relative

to vertical to verticaland and aa second second group of booms group of boomsareareangled angled in in a a second second directionrelative direction relativetotovertical, vertical, opposite thefirst opposite the firstdirection. direction.
3. 3. The aircraft of claim 1 or claim 2, further comprising: The aircraft of claim 1 or claim 2, further comprising:

two side by side seats provided for passengers in a forward part of the fuselage. two side by side seats provided for passengers in a forward part of the fuselage.
4. 4. The aircraft of any one of claims 1 to 3, further comprising: The aircraft of any one of claims 1 to 3, further comprising:

one or more one or morebatteries batteries provided providedinina acentral centralportion portionororover overthe thewing wingof of thethe fuselage fuselage

configured configured to to power power the the plurality plurality of lift of lift fans. fans.
5. 5. The aircraft of any one of claims 1 to 4, wherein orientation at respective angles of the The aircraft of any one of claims 1 to 4, wherein orientation at respective angles of the

booms results in a lateral force component of the respective lift forces generated by the plurality booms results in a lateral force component of the respective lift forces generated by the plurality

of lift fans of lift fans and appliedtotothe and applied theaircraft aircraftbyby said said liftfans. lift fans.
6. 6. The aircraft The aircraft of of claim claim5,5,further further comprising comprisinga flight a flightcontrol controlsystem system that that includes includes a a processor configured processor configuredto to use use said said lateral lateralforce forcecomponents to control components to control yaw aboutaa substantially yaw about substantially vertical yawaxis vertical yaw axisofofthethe aircraft. aircraft.

13
7. Theaircraft aircraft of of claim claim5,5,further further comprising comprisinga flight a flightcontrol controlsystem system thatthat includes a 22 Oct 2025

7. The includes a

processor configured to determine a set of actuators and associated actuator parameters to apply processor configured to determine a set of actuators and associated actuator parameters to apply

a requested set of forces and moments to the aircraft, the requested set of forces and moments a requested set of forces and moments to the aircraft, the requested set of forces and moments

including aa moment including moment about about a substantially a substantially verticalyawyaw vertical axis axis of of thethe aircraft,and aircraft, andwherein wherein thethe

processor is processor is configured to take configured to take into intoconsideration consideration said saidlateral force lateral components force components generated generated and and

applied applied totothe theaircraft aircraft by by the the liftlift fans, fans, and and the respective the respective contributions contributions of saidforce of said lateral lateral force components components to to a net a net moment moment aboutabout said substantially said substantially vertical vertical yaw ofaxis yaw axis theof the aircraft, aircraft, in in 2025256110

determining said set of actuators and associated actuator parameters. determining said set of actuators and associated actuator parameters.
8. 8. The aircraft The aircraft of of any any one one of of claims claims 1 1 to to 7, 7, wherein wherein a a subset subset of of booms comprisesatatleast booms comprises least three booms; three andwherein booms; and whereinoutermost outermost booms booms are are tilted tilted away away from from the the fuselage. fuselage.
9. 9. The aircraft The aircraft of of any any one one of of claims claims 1 1 to to 7, 7, wherein wherein a a subset subset of of booms comprisesatatleast booms comprises least three booms; three andwherein booms; and whereinmiddle middle and and inner inner booms booms are are tiltedtoward tilted toward thethe fuselage. fuselage.
10. 10. The aircraft of any one of claims 1 to 9, wherein each of the plurality of lift fans is The aircraft of any one of claims 1 to 9, wherein each of the plurality of lift fans is

driven by an electric motor. driven by an electric motor.
11. 11. The aircraft of any one of claims 1 to 10, wherein the aircraft is configured to perform The aircraft of any one of claims 1 to 10, wherein the aircraft is configured to perform

aa hover operation, hover operation, a vertical a vertical takeoff takeoff operation operation and aand a vertical vertical landing landing operation. operation.
12. 12. The aircraft of any one of claims 1 to 11, wherein a forward subset includes one or more The aircraft of any one of claims 1 to 11, wherein a forward subset includes one or more

of the plurality of the plurality of of lift lift fans fans that that are mounted are mounted forward forward of a of a center center of gravity of gravity of theof the aircraft aircraft and anand an

aft subset includes one or more of the plurality of lift fans that are mounted aft of the center of aft subset includes one or more of the plurality of lift fans that are mounted aft of the center of

gravity. gravity.

14